Warning condition adjusting apparatus and method

ABSTRACT

A warning condition adjusting apparatus may include: a processor configured to determine whether a parking direction of an ego vehicle is a first direction or a second direction, using traveling information of a target vehicle; and to maintain a preset warning condition of a rear cross collision warning (RCCW) system when the parking direction of the ego vehicle is the first direction, and change the warning condition of the RCCW system when the parking direction of the ego vehicle is the second direction.

CROSS-REFERENCES TO RELATED APPLICATIONS

The present application is the continuation application of U.S. patentapplication Ser. No. 16/570,169, filed on Sep. 13, 2019, which claimspriority to Korean application number 10-2018-0109302, filed on Sep. 13,2018, which is incorporated by reference in its entirety.

BACKGROUND

The present disclosure relates to an apparatus and method for adjustinga warning condition in a rear cross collision warning (RCCW) system.

In general, a vehicle has a radar sensor mounted on the rear thereof andconfigured to sense an obstacle or object, and thus senses the followingvehicle. Based on data sensed by the radar sensor, the RCCW systemsenses another vehicle or an obstacle when the vehicle is driven orparked. When the vehicle is approaching a position where a collision islikely to occur, the RCCW system outputs a predetermined warning signalto a driver such that the driver can safely drive the vehicle.

The related art is technical information which the present inventor hasretained to derive the present disclosure or has acquired during theprocess of deriving the present disclosure. The related art is notnecessarily a publicly known technique which is published to the publicbefore the application of the present disclosure.

RELATED ART DOCUMENT Patent Document

-   (Patent Document 1) Korean Patent Application Laid-Open No.    2014-0093358

SUMMARY

Embodiments of the present disclosure are directed to a warningcondition adjusting apparatus and method which can prevent a situationin which an RCCW system does not issue a warning, when a vehicle isparked in an oblique direction.

Also, embodiments of the present disclosure are directed to a warningcondition adjusting apparatus and method which can prevent a situationin which a warning of an RCCW system is delayed, when a vehicle isparked in an oblique direction.

In one embodiment, a warning condition adjusting apparatus may include aprocessor configured to: determine whether a parking direction of an egovehicle is a first direction or a second direction, using travelinginformation of a target vehicle; and maintain a preset warning conditionof an RCCW system when the parking direction of the ego vehicle is thefirst direction, and change the warning condition of the RCCW systemwhen the parking direction of the ego vehicle is the second direction.

The processor determines the parking direction of the ego vehicle bycomparing a preset reference axis to a radar axis generated through aradar signal reflected from the target vehicle in response to a radarsignal transmitted from a radar sensor installed in the ego vehicle. Theprocessor may determine that the parking direction of the ego vehicle isthe first direction, when the comparison result indicates that the radaraxis is similar to the reference axis, and determine that the parkingdirection of the ego vehicle is the second direction, when thecomparison result indicates that the radar axis is different from thereference axis.

The processor may be further configured to calculate an entry angle atwhich the ego vehicle enters a parking space in the second direction,with respect to the reference axis, and compensate for detectioninformation of the ego vehicle, included in the warning condition of theRCCW system, by the entry angle.

In another embodiment, a warning condition adjusting method may include:determining, by a processor, whether a parking direction of an egovehicle is a first direction or a second direction, using travelinginformation of a target vehicle; and maintaining, by the processor, apreset warning condition of an RCCW system when the parking condition ofthe ego vehicle is the first direction, and changing the warningcondition of the RCCW system when the parking direction of the egovehicle is the second direction.

The determining of whether the parking direction of the ego vehicle isthe first or second direction may include: comparing a preset referenceaxis to a radar axis generated through a radar signal reflected from thetarget vehicle in response to a radar signal transmitted from a radarsensor installed in the ego vehicle; and determining the parkingdirection of the ego vehicle according to the comparison result of thecomparing of the preset reference axis to the radar axis.

The determining of the parking direction of the ego vehicle may include:determining that the parking direction of the ego vehicle is the firstdirection, when the radar axis and the reference axis are similar toeach other; and determining that the parking direction of the egovehicle is the second direction, when the radar axis and the referenceaxis are different from each other.

The warning condition adjusting method may further include: calculating,by the processor, an entry angle at which the ego vehicle enters aparking space in the second direction, with respect to the referenceaxis; and compensating for, by the processor, detection information ofthe ego vehicle, included in the warning condition of the RCCW system,by the entry angle.

In still another embodiment, there is provided a computer program storedin a computer readable recording medium to execute the warning conditionadjusting method, using a computer.

In accordance with the embodiments of the present disclosure, thewarning condition adjusting apparatus and method can prevent a situationin which the RCCW system does not issue a warning, when the vehicle isparked in an oblique direction.

Furthermore, the warning condition adjusting apparatus and method canprevent a situation in which a warning of the RCCW system is delayed,when the vehicle is parked in an oblique direction.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram schematically illustrating a warning conditionadjusting apparatus in accordance with an embodiment of the presentdisclosure.

FIGS. 2A-2B shows diagrams schematically illustrating parking directionsof an ego vehicle including the warning condition adjusting apparatus ofFIG. 1.

FIGS. 3A-3B shows diagrams schematically illustrating detectioninformation depending on the parking directions of the ego vehicleincluding the warning condition adjusting apparatus of FIG. 1.

FIG. 4 is a flowchart illustrating a warning condition adjusting methodin accordance with an embodiment of the present disclosure.

DESCRIPTION OF SPECIFIC EMBODIMENTS

The disclosure is described more fully hereinafter with reference to theaccompanying drawings, in which embodiments of the disclosure are shown.This disclosure may, however, be embodied in many different forms andshould not be construed as limited to the embodiments set forth herein.Rather, these embodiments are provided so that this disclosure isthorough, and will fully convey the scope of the disclosure to thoseskilled in the art. Like reference numerals in the drawings denote likeelements.

Various advantages and features of the present disclosure and methodsaccomplishing thereof will become apparent from the followingdescription of embodiments with reference to the accompanying drawings.However, the present disclosure is not be limited to the embodiments setforth herein but may be implemented in many different forms. The presentembodiments may be provided so that the disclosure of the presentdisclosure will be complete, and will fully convey the scope of thedisclosure to those skilled in the art and therefore the presentdisclosure will be defined within the scope of claims. Like referencenumerals throughout the description denote like elements.

Unless defined otherwise, it is to be understood that all the terms(including technical and scientific terms) used in the specification hasthe same meaning as those that are understood by those who skilled inthe art. Further, the terms defined by the dictionary generally usedshould not be ideally or excessively formally defined unless clearlydefined specifically. It will be understood that for purposes of thisdisclosure, “at least one of X, Y, and Z” can be construed as X only, Yonly, Z only, or any combination of two or more items X, Y, and Z (e.g.,XYZ, XYY, YZ, ZZ). Unless particularly described to the contrary, theterm “comprise”, “configure”, “have”, or the like, which are describedherein, will be understood to imply the inclusion of the statedcomponents, and therefore should be construed as including othercomponents, and not the exclusion of any other elements.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this disclosure is a part. Terms,such as those defined in commonly used dictionaries, should beinterpreted as having a meaning that is consistent with their meaning inthe context of the relevant art and will not be interpreted in anidealized or overly formal sense, unless expressly so defined herein.

As is traditional in the corresponding field, some exemplary embodimentsmay be illustrated in the drawings in terms of functional blocks, units,and/or modules. Those of ordinary skill in the art will appreciate thatthese block, units, and/or modules are physically implemented byelectronic (or optical) circuits such as logic circuits, discretecomponents, processors, hard-wired circuits, memory elements, wiringconnections, and the like. When the blocks, units, and/or modules areimplemented by processors or similar hardware, they may be programmedand controlled using software (e.g., code) to perform various functionsdiscussed herein. Alternatively, each block, unit, and/or module may beimplemented by dedicated hardware or as a combination of dedicatedhardware to perform some functions and a processor (e.g., one or moreprogrammed processors and associated circuitry) to perform otherfunctions. Each block, unit, and/or module of some exemplary embodimentsmay be physically separated into two or more interacting and discreteblocks, units, and/or modules without departing from the scope of theinventive concept. Further, blocks, units, and/or module of someexemplary embodiments may be physically combined into more complexblocks, units, and/or modules without departing from the scope of theinventive concept.

Hereafter, a warning condition adjusting apparatus and method inaccordance with an embodiment of the present disclosure will bedescribed in detail with reference to the accompanying drawings. Itshould be noted that the drawings are not to precise scale and may beexaggerated in thickness of lines or sizes of components for descriptiveconvenience and clarity only. Furthermore, the terms as used herein aredefined by taking functions of the disclosure into account and can bechanged according to the custom or intention of users or operators.Therefore, definition of the terms should be made according to theoverall disclosures set forth herein.

The terms used in this application are only used to describe a specificembodiment, and not intended to limit the present disclosure. The termsof a singular form may include plural forms unless referred to thecontrary. In this application, the meaning of “include” or “have” onlyspecifies a property, number, step, operation, component, part orcombinations thereof, and does not exclude one or more other properties,numbers, steps, operations, components, parts or combinations thereof.The terms such as first and second may be used to describe variouscomponents, but the components should not be limited by the terms. Theterms are used only to distinguish one component from another component.

FIG. 1 is a diagram schematically illustrating a warning conditionadjusting apparatus in accordance with an embodiment of the presentdisclosure, FIG. 2 shows diagrams schematically illustrating parkingdirections of an ego vehicle including the warning condition adjustingapparatus of FIG. 1, and FIG. 3 shows diagrams schematicallyillustrating detection information depending on the parking directionsof the ego vehicle including the warning condition adjusting apparatusof FIG. 1.

Referring to FIG. 1, the warning condition adjusting apparatus 1 mayinclude a radar module 110, a warning module 120, a storage unit 130 anda processor 140. The warning condition adjusting apparatus 1 may beinstalled in a vehicle (an ego vehicle 100 and a target vehicle 200 ofFIG. 2). Hereafter, the descriptions will be made under the suppositionthat the warning condition adjusting apparatus 1 is installed in the egovehicle 100 of FIG. 2, for convenience of description.

The radar module 110 may be installed at one or more of the front, rearand/or sides of the ego vehicle 100, and detect the target vehicle 200which is present at one or more of the front, rear and/or sides of theego vehicle 100. The radar module 110 may transmit a radar signal to thetarget vehicle 200, receive a radar signal reflected from the targetvehicle 200 in response to the transmitted radar signal, and transferthe received radar signal to the processor 140. The processor 140 maygenerate predetermined information using the radar signal received fromthe radar module 110.

The warning module 120 may serve to issue a warning to a driver whodrives the ego vehicle 100. In an embodiment, the warning module 120 mayissue a warning through various methods such as a visual method, anauditory method and a tactual method. In an embodiment, the warningmodule 120 may display a warning on an instrument panel of a driverseat, a head-up display, a navigation system, an integrated informationdisplay device or the like. In another embodiment, the warning module120 may issue a warning through a speaker of the ego vehicle 100. Instill another embodiment, the warning module 120 may warn the driver byvibrating a steering wheel of the ego vehicle 100 or tightening a safetybelt. The warning module 120 may output a warning to such an extent thatthe driver of the ego vehicle 100 can recognize the warning, in responseto a warning output signal from the processor 140.

The storage unit 130 may store various programs or data whileinterworking with the processor 140. The storage unit 130 may store aprogram required for the warning condition adjusting apparatus 1 tooutput a warning depending on a rear cross collision risk. In anembodiment, the storage unit 130 may store reference axis (X-axis,Y-axis) information indicating a first direction as the direction inwhich the ego vehicle 100 is perpendicular parked. In anotherembodiment, the storage unit 130 may store reference detectioninformation as a warning condition that can operate the RCCW system tooutput a warning. For example, the reference detection information mayinclude a reference horizontal axis distance, a reference vertical axisdistance, a reference horizontal axis velocity, a reference verticalaxis velocity, a reference collision estimated time, a referencecollision point and the like. When the determination result of theprocessor 140 indicates that information received from the targetvehicle 200 satisfies the reference detection information, a warning maybe outputted.

The storage unit 130 may also include a high-speed random access memory.The storage unit 130 may include one or more nonvolatile memory devicessuch as a magnetic disk storage device, a flash memory device and othernonvolatile solid-state memory devices. However, the scope of thepresent disclosure is not limited thereto, and the storage unit 130 mayinclude a readable storage medium. For example, the storage unit 130 mayinclude an EEP-ROM (Electronically Erasable and Programmable Read OnlyMemory), but the scope of the present disclosure is not limited thereto.The EEP-ROM may write and erase information under control of theprocessor 140, during an operation of the processor 140. The EEP-ROM maybe a memory device that does not lose information stored therein butretains the information, even though power supply is cut off due to apower-off.

The processor 140 may generate detection information using informationon the time at which the radar module 110 transmits a radar signal andinformation on the time at which the processor 140 receives a radarsignal reflected from the target vehicle 200. The detection informationmay include one or more of horizontal distance information and verticaldistance information from the ego vehicle 100 to the target vehicle 200,a horizontal axis velocity and vertical axis velocity of the targetvehicle 200, a collision estimated time at which the target vehicle 200will collide with the ego vehicle 100, a point where the target vehicle200 collides with the ego vehicle 100 and an angle of the target vehicle200.

The processor 140 may determine whether the parking direction of the egovehicle 100 is a first or second direction, using traveling informationof the target vehicle 200. The processor 140 may maintain a presetwarning condition of the RCCW system when the parking direction of theego vehicle 100 is the first direction, and change the warning conditionof the RCCW system when the parking direction of the ego vehicle 100 isthe second direction.

In the present embodiment, the processor 140 serving as a kind of CPU(Central Processing Unit) may provide various functions by drivingcontrol software stored in the storage unit 130. The processor 140 mayinclude all kinds of devices capable of processing data, such as aprocessor. Here, ‘processor’ may indicate a data processing device whichhas a physically structured circuit to perform a function expressed as acode or command included in a program and is embedded in hardware.Examples of the data processing device embedded in hardware may includea microprocessor, a CPU, a processor core, a multiprocessor, an ASIC(Application-Specific Integrated Circuit), an FPGA (Field ProgrammableGate Array) and the like, but the scope of the present disclosure is notlimited thereto.

In the present embodiment, the processor 140 may include a determinationunit 141, a change unit 142 and a compensation unit 143.

The determination unit 141 may compare the reference axis stored in thestorage unit 130 to a radar axis generated through the radar signalreflected from the target vehicle 200 in response to the radar signaltransmitted from the radar module 110. The determination unit 141 maydetermine that the parking direction of the ego vehicle 100 is the firstdirection, when the radar axis and the reference axis are similar toeach other, and determine that the parking direction of the ego vehicle100 is the second direction, when the radar axis and the reference axisare different from each other. The first direction may indicate that theego vehicle 100 is perpendicular parked as illustrated in (a) of FIG. 2,and the second direction may indicate that the ego vehicle 100 is parkedin a non-perpendicular direction as illustrated in (b) of FIG. 2. Thatis, in the present embodiment, the first direction may include theperpendicular direction, and the second direction may include thenon-perpendicular direction (for example, an oblique direction ordiagonal direction).

The change unit 142 may maintain the warning condition of the RCCWsystem, stored in the storage unit 130, when the determination result ofthe determination unit 141 indicates that the parking direction of theego vehicle 100 is the first direction, and change the warning conditionof the RCCW system when the parking direction of the ego vehicle 100 isthe second direction.

Recently, parking spaces are designed in various manners. For example,the parking spaces may include not only a first-direction parking spaceillustrated in (a) of FIG. 2, but also a second-direction parking spaceillustrated in (b) of FIG. 2 as in an expressway rest area. In general,the RCCW system is designed based on the first-direction parking space.Therefore, when the ego vehicle 100 is parked in the first direction,detection information may be almost similar to the reference detectioninformation as illustrated in (a) of FIG. 3. However, when the egovehicle 100 is parked in the second direction, the detection informationmay be different from the reference detection information. Therefore,although an obstacle and/or the target vehicle 200 are present aroundthe ego vehicle 100, no warning may be issued or a warning may not beissued on time but issued later. Furthermore, even when the ego vehicle100 is parked in the first direction, the RCCW system may not actuallyperform a normal function because the rear of the ego vehicle 100 facesa wall surface in many cases. Therefore, the processor 140 may adjustthe warning condition by analyzing the detection tendency of the radarmodule 110 on the parking in the second direction, thereby securingstability for the parking in the second direction.

In order to change the warning condition of the RCCW system when theparking direction of the ego vehicle 100 is the second direction, thecompensation unit 143 may calculate an entry angle θ at which the egovehicle 100 enters a parking space in the second direction, with respectto the reference axis, and compensate for the detection information ofthe ego vehicle 100 by the entry angle θ, the detection informationbeing included in the warning condition of the RCCW system, stored inthe storage unit 130.

The compensation unit 143 may use Equation 1 below to calculate theentry angle θ at which the ego vehicle 100 enters the parking space,with respect to the reference axis.

$\begin{matrix}{{Entry}\mspace{14mu}{{angle}(\theta)}{= {\tan^{- 1}\frac{V_{X}}{V_{Y}}}}} & \left\lbrack {{Equation}\mspace{14mu} 1} \right\rbrack\end{matrix}$

In Equation 1, V_(X) may represent the horizontal axis velocity of thetarget vehicle 200 with respect to the radar horizontal axis in thesecond direction, and V_(Y) may represent the vertical axis velocity ofthe target vehicle 200 with respect to the radar vertical axis in thesecond direction.

The compensation unit 143 may compensate for the detection informationof the ego vehicle 100 by the entry angle θ, when the calculation of theentry angle θ of the ego vehicle 100 is completed. The compensationtarget may include the horizontal distance information X and thevertical distance information Y from the ego vehicle 100 to the targetvehicle 200 and the horizontal axis velocity V_(X) and the vertical axisvelocity V_(Y) of the target vehicle 200, among the pieces of detectioninformation of the ego vehicle 100. The other pieces of detectioninformation, for example, the collision estimated time at which thetarget vehicle 200 will collide with the ego vehicle, the point wherethe target vehicle 200 collides with the ego vehicle 100 and the angleof the target vehicle 200 may be calculated by the compensation target.

The compensation unit 143 may calculate compensation horizontal distanceinformation X_(C) and compensation vertical distance information Y_(C)through Equation 2 below, based on the horizontal distance information Xand the vertical distance information Y from the ego vehicle 100 to thetarget vehicle 200. Furthermore, the compensation unit 143 may calculatecompensation horizontal axis velocity V_(XC) and compensation verticalaxis velocity V_(YC) through Equation 2 below, based on the horizontalaxis velocity V_(X) and the vertical axis velocity V_(Y) of the targetvehicle 200.

$\begin{matrix}{\begin{bmatrix}X_{C} \\Y_{C}\end{bmatrix} = {{{\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}\begin{bmatrix}X \\Y\end{bmatrix}}\begin{bmatrix}V_{XC} \\V_{YC}\end{bmatrix}} = {\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}\begin{bmatrix}V_{X} \\V_{Y}\end{bmatrix}}}} & \left\lbrack {{Equation}\mspace{14mu} 2} \right\rbrack\end{matrix}$

When the compensation for the compensation target by the entry angle θis completed, the change unit 142 may compensate for one or more of theother pieces of detection information, for example, the collisionestimated time at which the target vehicle 200 will collide with the egovehicle 100, the point where the target vehicle 200 collides with theego vehicle 100, and the angle of the target vehicle 200, using thecompensation horizontal distance information X_(C) and the compensationvertical distance information Y_(C) and the compensation horizontal axisvelocity V_(XC) and the compensation vertical axis velocity V_(YC).

The change unit 142 may change the reference detection information,which is included in the reference warning condition of the RCCW systemstored in the storage unit 130, into compensation detection informationcompensated for by the entry angle θ, or separately store thecompensation detection information.

As the warning condition of the RCCW system is adaptively changedthrough the above-described operation according to the parking directionof the ego vehicle 100, it is possible to prevent an abnormal situationwhich may occur when the ego vehicle 100 is parked in an obliquedirection, for example, a situation in which no warning of the RCCWsystem is issued or a warning of the RCCW system is delayed.

FIG. 4 is a flowchart illustrating a warning condition adjusting methodin accordance with an embodiment of the present disclosure. Hereafter,the descriptions of contents overlapping the descriptions of FIGS. 1 to3 will be omitted herein.

Referring to FIG. 4, the warning condition adjusting apparatus 1 maydetermine whether the parking direction of the ego vehicle 100 is thefirst or second direction, using the traveling information of the targetvehicle 200, in step S410.

The warning condition adjusting apparatus 1 may compare the referenceaxis stored in the storage unit 130 to a radar axis generated through aradar signal reflected from the target vehicle 200 in response to aradar signal transmitted from the radar module 110. The warningcondition adjusting apparatus 1 may determine that the parking directionof the ego vehicle 100 is the first direction, when the radar axis andthe reference axis are similar to each other, and determine that theparking direction of the ego vehicle 100 is the second direction, whenthe radar axis and the reference axis are different from each other.

In steps S420 and S430, when the determination result indicates that theparking direction of the ego vehicle 100 is the first direction, thewarning condition adjusting apparatus 1 may maintain the preset warningcondition of the RCCW system, stored in the storage unit 130.

In steps S440 and S450, when the determination result indicates that theparking direction of the ego vehicle 100 is the second direction, thewarning condition adjusting apparatus 1 may calculate the entry angle θat which the ego vehicle 100 enters the parking space in the seconddirection, with respect to the reference axis, through Equation 1 above.

In step S460, when the entry angle θ is completely calculated, thewarning condition adjusting apparatus 1 may compensate for the detectioninformation of the ego vehicle 100, included in the warning condition ofthe RCCW system, by the entry angle θ.

The compensation target may include the horizontal distance informationX and the vertical distance information Y from the ego vehicle 100 tothe target vehicle 200 and the horizontal axis velocity V_(X) and thevertical axis velocity V_(Y) of the target vehicle 200, among the piecesof detection information of the ego vehicle 100. The other pieces ofdetection information, for example, the collision estimated time atwhich the target vehicle 200 will collide with the ego vehicle 100, thepoint where the target vehicle 200 collides with the ego vehicle 100,and the angle of the target vehicle 200 may be calculated by thecompensation target.

The warning condition adjusting apparatus 1 may calculate thecompensation horizontal distance information X_(C) and the compensationvertical distance information Y_(C) and the compensation horizontal axisvelocity V_(XC) and the compensation vertical axis velocity V_(YC),using Equation 2 above, and compensate for one or more of the otherpieces of detection information, for example, the collision estimatedtime at which the target vehicle 200 will collide with the ego vehicle,the point where the target vehicle 200 collides with the ego vehicle100, and the angle of the target vehicle 200, using the compensationhorizontal distance information X_(C) and the compensation verticaldistance information Y_(C) and the compensation horizontal axis velocityV_(XC) and the compensation vertical axis velocity V_(YC).

In step S470, the warning condition adjusting apparatus 1 may change thewarning condition of the RCCW system into a compensation warningcondition.

The above-described embodiments of the present disclosure may beimplemented in the form of computer programs which can be executed on acomputer through various components, and the computer programs may berecorded in a computer readable medium. At this time, the medium mayinclude a magnetic medium such as a hard disk, floppy disk or magnetictape, an optical recording medium such as a CD-ROM or DVD, amagneto-optical medium such as a floptical disk, and a hardware devicesuch as a ROM, RAM or flash memory, which is specifically configured tostore and execute program commands.

The computer program may include an available program which isspecifically designed and configured for the present disclosure, orpublicly known to those skilled in the computer software field. Examplesof the computer program may include high-level language codes which canbe executed by a computer through an interpreter, as well as machinelanguage codes which are generated by a compiler.

In the specification (or particularly the claims) of the presentdisclosure, the use of the term “the” and reference terms similar to“the” may correspond to both of a singular form and plural forms.Furthermore, when a range is described in the present disclosure, it ismay indicate that the present disclosure includes an embodiment to whichindividual values belonging to the range are applied (unless referred tothe contrary), and the individual values constituting the range aredescribed in the detailed descriptions of the disclosure.

The steps constituting the method in accordance with the embodiment ofthe present disclosure may be performed in suitable order, when theorder of the steps is clearly specified or unless referred to thecontrary. The present disclosure is not limited to the order of thesteps. In the present disclosure, all examples or exemplary terms (forexample, and the like) are simply used to describe the presentdisclosure in detail. The scope of the present disclosure is not limitedby the examples or exemplary terms, as long as the scope of the presentdisclosure is not limited by the claims. Furthermore, it is obvious to aperson skilled in the art that various modifications, combinations andchanges can be made according to design conditions and factors withinthe scope of claims or equivalents.

Although preferred embodiments of the disclosure have been disclosed forillustrative purposes, those skilled in the art will appreciate thatvarious modifications, additions and substitutions are possible, withoutdeparting from the scope and spirit of the disclosure as defined in theaccompanying claims.

What is claimed is:
 1. A warning condition adjusting apparatuscomprising a processor configured to: calculate an entry angle at whichan ego vehicle enters a parking space, with respect to a presetreference axis, and compensate for a detection information of the egovehicle, included in a warning condition of a preset rear crosscollision warning system, by the entry angle; and change a referencedetection information, included in the warning condition of the rearcross collision warning system, to a compensation detection information.2. The warning condition adjusting apparatus of claim 1, furthercomprising: a radar module configured to receive a radar signalreflected from a target vehicle and to detect the target vehicle.
 3. Thewarning condition adjusting apparatus of claim 2, wherein the processoruses the following equation to calculate the entry angle at which theego vehicle enters the parking space,${Entry}\mspace{14mu}{{angle}(\theta)}{= {\tan^{- 1}\frac{V_{X}}{V_{Y}}}}$wherein ‘V_(X)’ represents a horizontal axis velocity of the targetvehicle with respect to a radar horizontal axis, and ‘V_(Y)’ representsa vertical axis velocity of the target vehicle with respect to a radarvertical axis.
 4. The warning condition adjusting apparatus of claim 1,wherein the processor uses the following equation to calculatecompensation horizontal distance information X_(C), compensationvertical distance information Y_(C), a compensation horizontal axisvelocity V_(XC), and a compensation vertical axis velocity V_(YC)implemented by compensating for the detection information of the egovehicle, including horizontal distance information X, vertical distanceinformation Y, a horizontal axis velocity V_(X), and a vertical axisvelocity V_(Y), by the entry angle. $\begin{bmatrix}X_{C} \\Y_{C}\end{bmatrix} = {{{\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}\begin{bmatrix}X \\Y\end{bmatrix}}\begin{bmatrix}V_{XC} \\V_{YC}\end{bmatrix}} = {\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}\begin{bmatrix}V_{X} \\V_{Y}\end{bmatrix}}}$
 5. The warning condition adjusting apparatus of claim4, wherein the processor uses the compensation horizontal distanceinformation X_(C), the compensation vertical distance information Y_(C),the compensation horizontal axis velocity V_(XC), and the compensationvertical axis velocity V_(YC) to compensate for one or more of acollision estimated time at which a target vehicle collides with the egovehicle, a point where the target vehicle collides with the ego vehicle,and an angle of the target vehicle.
 6. The warning condition adjustingapparatus of claim 1, wherein the processor is further configured to:determine a parking direction of the ego vehicle using travelinginformation of a target vehicle, wherein the processor changes ormaintains the warning condition of the rear cross collision warningsystem based on the parking direction of the ego vehicle.
 7. A warningcondition adjusting method comprising: calculating, by a processor, anentry angle at which an ego vehicle enters a parking space, with respectto a preset reference axis; compensating, by the processor, for adetection information of the ego vehicle, included in a warningcondition of a preset rear cross collision warning system, by the entryangle; and changing, by the processor, a reference detectioninformation, included in the warning condition of the rear crosscollision warning system, to a compensation detection information. 8.The warning condition adjusting method of claim 7, further comprising:comparing a preset reference axis to a radar axis generated through areceived radar signal reflected from the target vehicle in response to aradar signal transmitted from a radar sensor installed in the egovehicle before the calculating of the entry angle; and determining aparking direction of the ego vehicle based on the result of comparingthe reference axis to the radar axis, wherein the changing of thereference detection information includes changing or maintaining thewarning condition of the rear cross collision warning system based onthe parking direction of the ego vehicle.
 9. The warning conditionadjusting method of claim 8, wherein in the calculating of the entryangle, the processor uses the following equation to calculate the entryangle at which the ego vehicle enters the parking space,${Entry}\mspace{14mu}{{angle}(\theta)}{= {\tan^{- 1}\frac{V_{X}}{V_{Y}}}}$wherein ‘V_(X)’ represents a horizontal axis velocity of the targetvehicle with respect to a radar horizontal axis, and ‘V_(Y)’ representsa vertical axis velocity of the target vehicle with respect to a radarvertical axis.
 10. The warning condition adjusting method of claim 7,wherein in the compensating for the detection information, the processoruses the following equation to calculate compensation horizontaldistance information X_(C), compensation vertical distance informationY_(C), a compensation horizontal axis velocity V_(XC), and acompensation vertical axis velocity V_(YC) implemented by compensatingfor detection information of the ego vehicle, including horizontaldistance information X, vertical distance information Y, a horizontalaxis velocity V_(X), and a vertical axis velocity V_(Y), by the entryangle. $\begin{bmatrix}X_{C} \\Y_{C}\end{bmatrix} = {{{\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}\begin{bmatrix}X \\Y\end{bmatrix}}\begin{bmatrix}V_{XC} \\V_{YC}\end{bmatrix}} = {\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}\begin{bmatrix}V_{X} \\V_{Y}\end{bmatrix}}}$
 11. The warning condition adjusting method of claim 10,wherein in the changing of the reference detection information, theprocessor uses the compensation horizontal distance information X_(C),the compensation vertical distance information Y_(C), the compensationhorizontal axis velocity V_(XC), and the compensation vertical axisvelocity V_(YC) to compensate for one or more of a collision estimatedtime at which a target vehicle collides with the ego vehicle, a pointwhere the target vehicle collides with the ego vehicle, and an angle ofthe target vehicle.